YASKAWA YASNAC 3000G User manual

Inttrvctions
TOE-CS43-3
July.
1980
YASNAC
3000G
OPERATOR’S
MANUAL
%
YASKAWA
Electric
Mfg.
Co.,
Ltd.

!
TABLE
OF
CONTENTS
v
Page
1.
INTRODUCTION
1
2.
PROGRAMMING
1
J
2.1
TAPE
FORMAT
2.1.1
Tape
Format
2.1.2
Address
and
Function
Characters
•
-
2.1.3
Buffer
Register
2.1.4
TV
Check
{Tape
vertical
parity
check)
2.1.5
Optional
Block
Skip
("/"
code)
•
.
.
1
1
3
4
4
4
2.2
SEQUENCE
NUMBER
2.2.
1
4-Digit
Sequence
Number
5
5
MOVE
COMMAND
2.3
5
!
2.3.1
Least
Output
Increment
•
•
2.3.2
Least
Input
Increment
•
•
-
2.3.3
Maximum
Programmable
Value
5
5
6
RAPID
TRAVERSE
RATE
2.4.1
Rapid
Traverse
Rate
2.4.2
Range
of
Rapid
Traverse Rate
6
2.4
6
6
CUTTING
FEED
2.5.1
Feed
Function
A
(F
-function
A)
2.5.2
2.5.3
2.5.4
2.5.5
Summary
of
Feed
Function
2.5
6
6
Feed Function
B
(F-function
B)
Feed
per
Revolution
A
(mm/rev
command
A)'*'
Feed
per
Revolution
B
(mm/rev
command
B)
7
7
t
8
9
AUTOMATIC ACCELERATION
AND
DECELERATION
2.6.1
Acceleration
and
Deceleration
of
Rapid
Traverse
and
Manual
Feed
.
•
2.6.2
Acceleration
and
Deceleration
of
Cutting
Feed
2.6
9
9
9
MISCELLANEOUS FUNCTIONS
(M-FUNCTION)
2.7.1
M
Codes
for
Stop
(MOO,
M01, M02,
M30)
2.7.2
M
Codes
for
Other
Internal
Processes'ÿ
2.7.3
Other
M
Codes
2.7.4
Subprogram
Function
(M98,
M99)ÿ
.
.
.
2.7
9
9
10
12
12
SPINDLE -SPEED
FUNCTION
(S-FUNCTION)
2.8.1
S
2-Digit
Command
2.8.2
S
4-Digit''"
Command
2.8
16
16
16
i
»
l

TOOL
FUNCTION
(T-FUNCTlON)
T
2-Digit
T
4-Digit
+
.....
.
•
2.9
17
2.9.1
2.9.2
17
17
2.10
TOOL
OFFSET
17
Outline
of-
Tool
Offset
Storage
of
Tool
Offset,
Values
H-
and
D-function
(H,
D
codes)
2.
10.
1
2.
10.2
2.
10.3
17
17
18
2.11
B-FUNCTION
+
19
2.
12
SIMULTANEOUSLY
CONTROLLABLE
AXES
19
Three-Axis
Control
Four-Axis
Controlÿ
2.12.
1
2.
12.
2
19
19
t
2.
13
ADDITIONAL
4TH
AXIS
20
Rotary
Axis
(A,
B
or
C
Axis)
Linear Axis
(U,
V
or
W
Axis)
4th
Axis
Command
Address
2.
13.
1
2.
13.2
2.
13. 3
20
20
\
20
2. 14
PREPARATORY
FUNCTIONS
(G-FUNCTION)
2.
14.
1
List
of G Codes
and
Groups
•
-
•
2.14.2
Positioning
(GOO)
•
2.14.3
Linear
Interpolation
(G01)
2.14.4
Circular
Interpolation
(G02,
G03)
2.
14.
5
Dwell
(G04)
•
-
.
•
2.14.6-
Circle
Cutting
(G
12,
G13)+
.....
2.14.7
Helical
Cutting
(G14,
G15)+
....
2.14.8
Plane
Designationÿ
17,
G18,
G19)
+
2.14.9
Program
Copy (G25)
2. 14.
10
Reference
Zero
Check
(G27)*
•
•
.
2.
14.
I
1
Automatic
Return
to
Reference
Zero
(G28)ÿ
2.
14. 12
Return
from Reference
Zero
(G29)ÿ
2. 14.
13
Tool Radius
Compensation
C
(G40,.
G41,
G42)+
.
2.
14.
14
Tool
Position
Offset
B
(G43,
G44,
G49)
2.14.15
Tool
Position
Offset
A
(G45
to
G48)
•
•
2.14.16
Canned
Cycles
(G73,
G76,
G80
to
G89)+-
-
2.14.17
Absolute
/Incremental
Designation
(G90,
G91)
2.14.
18
Programming
of
Absolute
Zero Point
(G92)
2.
14.
19
Feed
Function
Designation
(G94,
G95)ÿ"
'2.14.2(1
Designation
of
Canned
Cycle
Return
Point
(G98,
G99)ÿ
21
21
23
23
24
29
30
32
34
34
36
36
37
38
55
59
64
77
77
78
78
3.
NC
TAPE
PUNCHING
79
TAPE
CODE
79
3.
1
Tape
Code
....
El
A
/ISO/Auto-Select
3.1.1
3.1.2
79
80
3.2
PROGRAMMING
80
3.2.
1
3.2.2
3.2.3
Process
Sheet
General
Program
Form
Precaution
in
Programming
80
81
81
II

3.3
NC
TAPE
82
Paper
Tape
....
Punching
of
NC
Tape
Checking
of
NC
Tape
3.3.
1
3.3.2
3.3.3
82
82
82
3.4
NC
TAPE
HANDLING
•
•
Splice
Tape
.
.
.
.
Keeping
of
NC
Tape
83
3.4.1
3.4.2
83
83
4.
NC
OPERATOR'S
PANEL
85
4.1
PUSHBUTTONS,
KEYS,
AND
LAMPS
POWER
ON/OFF
Pushbuttons
Indicating
Lamps
FUNCTION
Select
Keys
ADDRESS
Select
Keys
and
Display
NUMBER
Setting
Keys
and
Display
4.1.6
DATA
Keys
4.1.7
WR
(Write)
Key
4.1.8
AS
(Address
Search)
Key
4.1.9
Sequential
Search
Keys
[±]
and
JT]
4.1.10
ERS(Erase),
INS
(Insert),
ALT
(Alter),
and
EOB
(End
of
Block)
Keys
4.1.11
START
Key
4.1.12
RESET
Key
.
4.1.13
ORG
Key
4.1.14
Universal
Display
.
4.
1.
15
TAPE
FEED
and
SYSTEM
NO.
Switches
.
.
85
4.1.1
4.
1.2
4.
1.3
4.1.4
4.
1.5
85
85
86
86
86
87
87
87
87
87
88
88
88
88
88
4.2
POWER
ON
/OFF
OPERATION
4.2.1
Turning
on
Power
4.2.2
Turning
off
Power
4.2.3
Remote
Turning
ON
/OFF
Buttons
89
89
89
90
4.3
DISPLAY
AND
WRITING
OF
COMMAND
DATA
90
Display
of
Command
Data
Writing
Command
Data
by
MDI
....
Current
Position
Display
Incremental Value
Display
Display
of
Tool
Offset
Value
Writing
of
Tool
Offset
Value
Display
of
Current
Tool
Offset
Number
Parameter
Display
;
Writing
Parameters
4.3.1
4.3.2
4.3.3
4.3.4
4.3.5
4.3.6
4.3.7
4.3.8
4.3.9
4.3.
10
Operation
Time
Display
4.3.
11
Parameter
Writing
for
Mirror-Image
Axis
4.3.12
Alarm
and
Status Code
Display
4.3. 13
Display
of
Input/Output
Signals
4.3.
14
Address
Search
•
90
91
92
93
93
93
94
95
95
96
96
100
103
104
4.3.
15
TV
Check
(Vertical
Parity
Check)
4.3.
16
Current
Position
Display
Unit+
•
104
104
4.4
STORING
TOOL
OFFSET
VALUES
FROM
NC
TAPE
f
•
.
-
105
III

PART
PROGRAM
STORAGE
+
Storing
Part
Program
from
NC
Tape*"
•
.
-
Part
Program
Modification
from
NC
Tape*"
Storing
Part
Program
from
MDI*"
Address.
Display
of
Tape
Memory
(Parameter
No.
99)
105
4.5
4.5.1
4.
5.2
4.
5.3
4.
5.4
105
106
107
108
f
EDIT
4.6
108
4.6.1
'
Display
of Stored
Part
Program*"
4.
6.2
4.
6.3
108
Editing
Stored
Part
Program*"
Outline
of
Edit
Operation*"
109
111
PUNCHOUT
OPERATION
f
4.
7
112
1
Tape
Puncher*-
•
4.
7.
1
4.7.2'-
Punchout
of
NC
Tape*"
4.
7.3
112
113
Punchout
of
Tool
Offset
Value*-
•
Sequence
of
Tape
Data
Storing
and
Punching
Operation*"
. .
114
4.
7.4
114
4.8
COLLATING
OF
STORED
PROGRAM
AND
OFFSET
VALUE
•
4.8.1
Collating
of Stored
Program
+
.
4.8.2
Collating
of
Stored
Offset
Value*-
4.9
OUTLINE OF
OPERATION
IN THE
EDT
MODE+
114
r\
.
X
114
1
14
115
t
4.10
LEADSCREW
ERROR
COMPENSATION
116
4.11
STROKE
CHECK*"
118
5.
TAPE
READER
COMPARTMENT
120
TAPE
READER
COMPARTMENT
5.
1
120
TAPE FEED
and
SYSTEM
NO.
Switches
Tape
Reader
Tape
Tumble
Box
5.1.1
5.1.2
5.1.3
120
120
121
TAPE
REELS
+
5.
2
121
Tape
Reels*"
.
.
6-Inch
Tape
Reels
8-Inch
Tape
Reels
5.2.1
5.2.2
5.2.3
121
121
122
126
6.
CONTROL
STATION
FOR
MACHINE
SWITCHING UNITS
ON
THE
CONTROL STATION
MODE
SELECT
Switch
CYCLE
START
Pushbutton
and
Lamp
FEED
HOLD
Pushbutton
and
Lamp
EMERGENCY
STOP
Pushbutton
HANDLE
Dial
(Manual
Pulse
Generator)*"
:
.
.
.
.
HANDLE
AXIS
Select
Switch+
-
MANUAL
PULSE
MULTIPLY
Select
Switch*"'
•
JOG
Pushbuttons
-
.
.
JOG
FEEDRATE
Switch
RAPID
TRAVERSE
RATE
OVERRIDE
Switch
*"
-
.
FEEDRATE
OVERRIDE
Switch
.
. .
:
126
6.
1
6.
1.
1
6.1.2
6.1.3
6.1.4
6.1.5
6.1.6
6.1.7
6.
1.
8
6.
1.9,
6.
1.
10
6.
1.
11
126
126
126
126
127
127
127
128
128
128
130
IV

OVERRIDE
CANCEL
Switch*
ZERO
RETURN
Switch*
(Manual
Zero
Return)
ZERO
POSITION
Lamps*
(For
X, Y,
Z,
and
4th
Axes).
.
.
SINGLE
Block
Switch
DISPLAY
LOCK/MACHINE
LOCK
Switch
DRY
RUN
Switch
OPTIONAL
BLOCK
SKIP
Switch
OPTIONAL
STOP
Switch
.
MANUAL
ABSOLUTE
Switch
M
-FUNCTION
LOCK
Switch
(Miscellaneous
Function
Lock)
Z-AXIS
FEED
NEGLECT
Switch
FEED
CODE
LOCK
Switch
(F-code
Lock)
BLOCK
RETURN
Switch
and
BLOCK
RETURN
END
Lamp*
MIRROR
IMAGE
AXIS
Selector
Switch*
ERROR
DETECT
ON/OFF
Switch*
TOOL OFFSET
AUTO-STORE
Pushbutton
and
Lampt
-
.
.
EDIT
LOCK
Switch*
START
LOCK
Input*
(or
Switch)
AXIS
INTERLOCK
Input
..
.
:
TRAVERSE
RATE
CLAMP
Input*
6.
1.
12
6.
1.
13
6.1.14
6.
1.
15
6.
1.
16
6.
1.
17
6.
1.
18
6,
1.
19
6.1.20
6.
1.21
130
130
130
130
130
131
131
131
131
132
6.
1.22
6.
1.
23
6.
1.24
132
132
132
6.
1.25
6. 1.26
6.
1.27
6.
1.
28
6.
1.29
6.
1.30
6.1.31
133
133
133
134
134
134
134
6.2
OPERATION
FOR
MACHINING
135
Manual
Return
to
Reference
Zero
Block
Return*
.
Automatic
Tool-offset
Storing*
•
6.2.1
6.2.2
6.2.3
135
135
137
7.
OPERATION
PROCEDURE
140
INSPECTION
BEFORE
TURNING
ON
POWER
7.
1
140
TURNING
ON
POWER
•
7.2
140
MANUAL
OPERATION
7.3
140
PREPARATION
FOR
LEADSCREW
ERROR
COMPENSATION
AND
STROKE
CHECK*
7.4
14
I
PREPARATION FOR
AUTOMATIC
OPERATION
7.5
141
7.
6
OPERATION
IN
TAPE
AND
MEMORY
MODE
142
MANUAL
OPERATION
INTERRUPTING
AUTOMATIC
OPERATION
•
7.
7
142
AUTOMATIC
OPERATION
IN
MDI
MODE
7.8
143
MDI
OPERATION
INTERRUPTING
AUTOMATIC
OPERATION
•
7.9
143
7.
10
PREPARATION
FOR
TURNING
OFF POWER
143
7.11
TURNING
OFF
POWER
143
v

8.
MAINTENANCE
145
8.1
ROUTINE
INSPECTION
SCHEDULE
.
8.1.1
Tape
Reader
......
..
.....
.. .
8.1.2
Control
Panel
.
8.1.3
Servomotor
and
DC
Motor
for
Spindle
8.1.4
Battery
•
..
145
146
146
146
147
REPLACEMENT
OF
BATTERY
8.
2
148
8.3
POWER
FUSES
.
'
'
8.3.1
Fuses
of
Composite
Control
Power
Supply
Unit
8.3.2
Fuses
of
Servo
Unit
149
149
150
THERMAL
OVERLOAD
RELAY
OF
SERVO
UNIT
8.4
150
OTHERS
151
8.
5
8.5.1
8.
5.2
Molded-case
Circuit
Breakers
(MCB)
Power
Receptacles
for
Maintenance Tools
151
151
TROUBLE
CAUSES
AND
REMEDIES
8.
6
151
8.6.
1
>
On-line
Diagnostics
.
.
.
8.6.2
Alarm
Codes
and
Remedies
8.6.3
Input/Output
Signals
•
.
.
8.6.4
Before
Maintenance
Call
151
151
152
160
APPENDIX-1
INTERFACE
FOR
M-,
S-,
T-,
AND
B-CODE
161
APPENDIX-2
SPINDLE
CONTROL
IN
CANNED
CYCLES
169
LIST
OF
PARAMETERS
APPENOIX-3
173
185
APPENDIX-4
TROUBLE
CAUSES
AND
REMEDIES
VI

1.
INTRODUCTION
provides
faster
and
higher
accuracy
of
machining.
The
totally-enclosed,
dustproof
enclosure
pro¬
tects
all
components
from
the
attack
by
rugged
industrial
environment.
This
contributes
to
longer-lasting
control
reliability.
YASNAC
3000G
is
a
low
cost,
high
performance
CNC
specifically
designed
for
machining
centers
to
direct
a
three-
or
four-motion machine
tool.
It
incorporates
the
latest microelectronics tech¬
nology
in
every
design
feature,
which
remarkably
upgrades
the basic
functions
and
offers
a
wide
variety
of
optional
functions.
On-line
diagnostics
of
YASNAC
3000G
identifies
the
failed
spot
and
minimizes
down
time.
The
improved
transistorized
PWM
servos
com¬
bined
with
the
optimum
pulse
distribution control
2.
PROGRAMMING
2.1
TAPE
FORMAT
2.1.1
TAPE
FORMAT
A
variable block
format
conforming
to
JISÿ
B
'
6313
is used
for
YASNAC
3000G.
Table
2.
1,
1
shows
the
tape
format.
Numerals
following
the
address
characters
in
Table
2.
1.
1
indicate
the
programmable
number
of
digits.
EXAMPLE
4
3
Down
to
third
decimal
places
in
mm
or
inches
Four
digits
of
integer
Sign
Address
character:
X
Note:
A
decimal
point
must
be
omitted
in.
actual
programming.
In
the
manual,
EOB
code
in
a
program
example
is
represented
by
an
asterisk
(*).
In
actual
pro¬
gramming,
CR
(EIA
code)
or
LF/NL
(ISO
code)
should
be
used instead
of
the asterisk
(*).
The
leading
zeros can
be
suppressed
for
all ad¬
dress codes.
Plus
signs
need
not
be
program¬
med,
but
ail minus
signs
must
be
programmed.
#
Japanese
Industrial
Standard
-
1
-

Table
2.1.1
.
Tape
Format
Inchÿ
Metric
Least
input
0.001
inch
increment
0.0001
inch
Items
0.01
mm
0. 001
mm
Sequence
Number
•
N4
,N4
Preparatory
Function
G2
G2
XX
+
42
.
X
+
43
X
+
33
X
+
34
.
"Y
+
43
Y
+
33
Y
+
42
Y
Y
+
34
Z
+
33
Z
'+
34
Z
+
42
Z Z
+
43
Move
Command
6'
+
42
6
+
43
B.+
42
6+43
a
(4th
axis)t
Y
+
42
Y
+
43
Y
+
33
Y
+
34
G02.
G03
in X
direction
(Radius
of G12
tojS15)
.
I
+
42
I
+
43
I
+
33
I
+
34
Arc
Radius
Designation
in Y
direction
J
+
42
J
+
43
J
+
33
J
+
34
in Z
direction
.
K
+
42
K
+
33
K
+
43
K
+
34
Radius
Designation!
•
R
+
42
R
+
43
R
+
33
R
+
34
Lead
.
K42
K43
K33
K34
Helical
Cutting*"
No.
of
turns
L7
L7
mm/min inch/min
F4
or
F4
1
F31
or
F32
Feedrate
mm/revt
inch/revf'
F22
or
F23
F
13
or
F14
'
H
H2
H2
Tool
Offset
No.
•
D
D2
D2
T2
T4+
T2
T4+
Tool
Function
S2
S4
+
S2
S4+
Spindle-Speed
Function
Miscellaneous Function
M2 M2
B-
Function'!
B3
B3
P43
Dwell
P43
Cutting
Feed
Start
Point
R
+
42
R
+
43
R
+
33
R
+
34
Q42 Q43 Q33
Q34
Deep
Hole
Drilling
Depth
Canned
Cycles*
Dwell
P43
P43
No.
of
Cycles
L7 L7
Sequence
Number
P4
P4
+
Subprogram
No.
of
Cycles
L7 L7
Start
Sequence
No.
P4
P4
G25
Program
Copy+
Q4
Q4
End
Sequence
No.
L7 L7
No.
of
Cycles
t
End
of.
Block
*
*
N
ote
s
:
.
.
1
Functions
with
i
are
optional.
Only
the
numbers
of
digits
are
shown
in
the
above table.
Some
of
them
cannot
ex¬
ceed the
maximum
programmable
value.
Refer
to
the
description
of
each
item.
3.
Least
input
increment
,(0.
01
/0
.
00
1
mm)
is
parameter-switched.
Feedrate is
designated
by
either
mm
(inch)
per
minute
or
mm
(inch)
per
revolution,
which
can
be
switched
by
G
code.
(G94,
G95)
B
is
A,
B,
or
C
axis;
Y
is
U,
V,
or
W
axis.
Inch
input
is
available
for
the control
equipped
with
an
optional
Inch/Metric
selection.
Inch/Metric
are
parameter-switched.
Instead
of
Deep
Hole
Drilling
Depth
Q,
addresses
I
(1st
depth),
J
(Decrement)
and
K
(Final
depth)
may
be used
for
designating
deep
hole
drilling
cycles.
2.
--
4.
5.
6.
7.
t
T
1
-
2
-

2.1.2
ADDRESS
AND
FUNCTION
CHARACTERS
Address
characters
and
the
meanings
are
shown
in
Table
2.
1.
2.
1.
Function
characters
and
the
meanings
are
shown
in
Table
2.
1.2.2.
Table
2.
1.2.1
Address
Characters
B:
Basic
O:
Optional
Address
Characters
Meanings
Section
Additional
rotary
axis
parallel
to
X-axis
A
O
Additional
rotary
axis
parallel
to
Y-axis
B
O
Additional
rotary
axis
parallel
to
Z-axis
C
O
Tool
radius
offset
number
D
O,
B
E
Unused
F
Cutting'
feedrate
B
G
Preparatory
function
B
H
Tool
position
offset
number
B
X-coordinate
of
arc
center
Radius
for
circle
cutting/helical
cutting
B
I
O
Y-coordinate
of
arc
center
J
B
Z
-coordinate
of
arc
center
Helix lead
for
helical
cutting
B
K
O
Numbers
of
canned
cycles,
subprogram
(M98),
subprogram
copies,
helical
cutting
cycles
L
O
M
Miscellaneous
functions
B
Sequence
number
N
B
O
Same
as
N
(EIA
only)
B
Dwell
time,
Sequence
No.
of
subprogram
(M98,
99),
Sequence
No.
for
start
of
program
copy
(G25)
B,
O
P
O
Sequence
No.
for
G73,
G83
depth
of
cut,
shift
of
G76,
G87,
End
of
program
copy
(G25)
Q
O
Radius
designation
of
a
circular
arc
for
G02
and
G03
R-point
for
canned
cycles
R
O.
B
B
Spindle
function
S
T
Tool
function
B
Additional
linear
axis
parallel
to
X-axis
O
U
Additional
linear
axis
parallel
to
Y-axis
O
V
Additional
linear
axis
parallel
to
Z-axis
W
O
X
X-coordinate
B
Y
Y
-coordinate
B
Z
-coordinate
Z B
-
3
-

2.1.3
BUFFER
REGISTER
Function
Characters
Table
2
.
1
.
2
.
2
While
the
control
operates
with
the
data
in
active
register,
the
next
block
of
data
is
read
out
from
the
tape
and
stored
into
buffer
register.
the
tape
reading
operation
does
not
cause
loss
time
in
the
machining
operation.
Buffer
capacity
is
96
characters
including
EOB.
A
command
of
block
exceeding
96
characters
causes
errors
and the
alarm
code
"14"
is
dis¬
played.
The
following
characters
are
not
read
into
buffer
register
and
are
not
restricted
by
buff¬
er
capacity.
_
•
Disregarded
codes
(SPACE,
TAB,
ALL
MARK,
etc
.
)
•
Insignificant
data
from
the
start
to
the
first
EOB
at
the-
Label
Skip
state.
-
Control
Out,
Control
In
and codes
between
them.
NOTE:.
During
tool
radius
compensationÿ
,
two
or
three
blocks
are
read
ahead.
In
this
optional
case,
each
buffer
capacity
is the
same
as
the
above.
Meanings
••
ISO
EIA
*
Error
in
significant
data
area
in
EIA
Disregarded
in
ISO
Thus,
Blank
Nul
Disregarded
BS BS
Disregarded
Tab
HT
LF/N1.
End
of
block
CR
Disregarded'
CR
SPf
•
Disregarded
SP
Rewind
stop
%
ER
Disregarded
UC
Disregarded
LC-
Control
out
(
Control
in
)
Disregarded
+
+
Negative
sign
Numerals
0
to
9
0
to
9
2.1.4
TV
CHECK
(TAPE
VERTICAL
PARITY
CHECK)
Address
'characters
A
to
Z
a
to.z
Regarded
as
N
0
The
number
of
characters
in
one
block
must
be
even
in
TV
check.
SP
code is used
for
making
the
number
even
when
programming.
ON/OFF
switching
of
TV
check
is
set
with
param¬
eter.
A
block
containing
an
odd
number
of
char¬
acters
causes
error
and
the
alarm
code
"13"
is
displayed.
(Refer
to
4
.
3
.
15
TV
Check.
)
/
/
Optional
block
skip
Disregarded
(Including
All
Mark)
‘
Del
DEL
Notes:
l.
Characters
other than
the
above
cause
er¬
ror
in
significant
data
area.
2.
Information
between
Control
Out
and
Con-
In
is
ignored
as
insignificant
data.
3.
Tape
code
(EIA
or
ISO)
can
be
switched
by
parameter.
4.
Label
Skip
function:
After
switching
on
the
power
.supply,
or
after
making
RESET
op¬
eration,
Label
Skip
function
becomes
effec¬
tive,
and
LABEL
SKIP
lamp
on
the
NC
op¬
eration
panel
lights.
In
this
condition,
all
tape
information
is
ignored
before
the
first
EOB
code
is.
read.
When
an
EOB
codeus
read,
LABEL,
SKIP
lamp
goes
out
automat¬
ically,
and
a
significant
data
area
is
initi¬
ated.
2.1.5
OPTIONAL
BLOCK
SKIP
{"
/"
CODE)
A
block
with
"/"
before
the
address
N
for
se¬
quence
number
is
skipped
with
OPTIONAL
BLOCK
SKIP
switch
on.
"/"
after
the
address
N
is
read
into
buffer
register,
but is
ignored.
4

2.3.2
LEAST
INPUT
INCREMENT
2.2
SEQUENCE
NUMBER
The least
input
increment is
the
minimum
unit
that
can
be
programmed
and
is
represented
in
millimeters
(
or
in
inchest
or
degreest).
2.2.1
4-DIGIT
SEQUENCE
NUMBER
Sequence
number
is
a
reference
number
for
the
block
and
does
not
affect
the
machining
operation
and
order.
Therefore,
sequential
numbers,
dis¬
continuous
numbers,
same
numbers
and
no
num¬
ber
are
acceptable.
But
it
is
recommendable
to
use
numbers
in
numerical
order.
Sequence
number
is
represented
by
four
digits
from
0001
to
9999
with
the
preceding
N.
The
leading
zeros
can
be
suppressed.
Table
2.3.2
Least
Input
Increment
x
10
x
1
Metric
system
0.
01
mm
0. 001
mm
Inch
system+
0.001
inch
0.
0001
inch
Degree+
0.01
deg.
0.
001
deg.
EXAMPLE
1
I
Nl,
N01,
N001,
N0001
---
All
correct
NOTE:
When
a
number
of
5
digits
or
over
is
given
as
a
sequence
number,
the latter
4
digits
are
effective.
When
the
same
sequence
number
used
for
several
blocks
is
searched,
address
search
stops
after
reading
out
the
block
found
first.
The
block
without
a
sequence
number
can
be
found
by
searching
the
address
data
in
the
block.
Contents
of
Parameter
No.
.88
II
.
u
"
0”
Tool
offset
value
must
always
be written
inO.OOl
mm
(or
0.0001
incHl",
or
0.001
degf\),
and
offset
is
possible
in
these
units.
In
0.01
mm
increment
system,
the
following
op¬
eration
must
be
made
in
the
unit
of
0.01
mm.
•
Programming
for
operation
in
TAPE
mode.
Write
operation
in MDI
mode.
•
Programming
for
operation
in
MEMORY
mode+.
•
Program
editing
operation
in
E
DT
mode-*-
.
2.3
MOVE
COMMAND
2.3.1
LEAST
OUTPUT
INCREMENT
The least
output
increment
is
the minimum
unit
of
movement
by
which
the
machine
can move
and
is
represented
in
millimeters
per
pulse
(or
in
deg/pulse
).
NOTES:
•
If
NC
tape
programmed
by
0.001
mm
is
fed
in¬
to
or
stored
in
an
equipment
set
by
0.
01
mm
increment,
the
machine
will
move
ten
times
the
intended
dimensions.
•
If
the increment
system
is
switched when
the
contents
of
NC
tape
are
stored
in
memory
+,
the machine
will
move
by
ten
times
or
one
ten¬
th
of
the
commanded
dimensions.
•
When
the
stored
program
is
punched
out
on
the
tape+,
the stored
figures
are
punched
out
"as
stored"
regardless
of
switching
of
the incre¬
ment
system
.
Table
2.3.1
Least
Output
Increment
Rotary
axis+
Linear
axis
0.
001
mm/
pulse
X,
Y,
Z
axis
0.001
deg
/
pulse
0.
001
mm/
pulse
4th
axis’*-
Note:
Some
machines
have
the least
output
in¬
crement
of
0.002
mm/pulse.
Refer
to
the
specifications
given
by
the
machine
tool
builder.
-
5
-

2.5
CUTTING
FEED
2.3.3
MAXIMUM
PROGRAMMABLE
VALUE
2.5-.
1
FEED
FUNCTION
A
(F-FUNCTION
A)
Maximum
programmable
values
of
move
com¬
mand
are
shown
below.
f-
T
he
four
digits
following
the
address
F
are
for
commanding
tool
feed
rates
minute
(mm/min).
Table
2.
5.
1. 1
shows the
programmable
range
of
the
F
code.
Maximum
Programmable
Values
Table
2.3.3
Increment
system
x
10
x
1
±8388.607.'
mm
F
code
(mm/min-A)
Table
2.
5.
1. 1
£8388.
60
mm
Metric
Range
of
Feedrate
Inch±
'*•
±330.260
inches
±330.2601
inches
Format
Meanings
Degree'1'
±8388.60
deg.
±8388.607
deg.'
Metric
System
l
to
5400
mm/min
FI
to
F5400
F4
Inch±
System
In
incremental
programming,
input
values
and
the
accumulative
value
must not
exceed
the
max¬
imum
programmable
value.
In
absolute
programming,
input
values and
move
amount
of
each axis
specified
by
the
inputs
must
not
exceed the maximum
programmable
value.
0.1
to
212.
5
inch/mm
FI
to
F2125
F31
,
Note:
Where the
4th
axis is
a
rotary
axis,,
refer
to
2.
14.3
Linear
Interpolation
(G01).
C?
•
Machine
tool builder's
specifications
may
fix
the maximum
cutting
feedrate.
If
so,
the
re-
levant
maximum'
value
is
set
for
parameter
No.
75.
Even
when
F
command
in
excess
of
this
set
limit
value
is
given,
the
feedrate
is
fixed
in
accordance
with
specifications.
•
Values
of
F
command
at
linear
or
circular
in¬
terpolation
represent
the
tangential
feedrate
when
two
axes are
simultaneously
controlled.
Note:
The
machine
may
not
function
properly
if
a
move
command
over
the maximum
program¬
mable
value
is
given.
The above
maximum
pro¬
grammable
values also
apply
to
distance
com¬
mand
addresses
I, J,
K
(R,
Q)t
in
addition
to
move
command addresses
X,
Y,
Z
(at
).
2.4
RAPID
TRAVERSE
RATE
EXAMPLE
1
2.4.1.
RAPID
TRAVERSE
RATE
G91
(Incremental
command
designation)
Each
axis
moves
at
the
rapid
traverse rate
when
GOO
(positioning)
is
commanded
or
RAPID
mode
(manual
rapid
traverse)
is
selected.
Rapid
traverse rate
is
set
with
parameter
No.
94.
To
the
rapid
traverse
rate,
some
override
traverse
rates
can
be
applied.
(Refer
to
6.
1.
10
RAPID
TRAVERSE
RATE
OVERRIDE
Switch1}
G01
X4000
Y3000
F500
*
in
the above
case,
the
feedrate
is:
F
-
500
(
mm/min)
=
J
3002
+
4002
!
Z-axis
component
*ÿ
2.4.2
RANGE
OF
RAPID
TRAVERSE
RATE
X-axis
component
Rapid
traverse rate
is
set
for
each axis
in
the
following
step.
Step
of
rapid
traverse
rate--7.
5
mm/min
(or
deg/min+)
The
upper
limit
of
rapid
traverse rate
is
15
m/
min
(or
41.6
rev.
/min±).
However,
the
upper
limits
are
subject
to
the
design
of
the
servomo¬
tor
or
machine
used.
The
optimum
rate
must
be
determined
in
accordance
with
the
specifica¬
tions
given
by
the
machine
tool
builder.
Vs-
1
300mm
/rain.
+Y
400tnm/min.
+X
(a)
Fig.
2.
5.
1.
1
-
6

•
Values
of
F
command
at
linear
interpolation
represent
the
tangential
feedrate
when
four
axes are
simultaneously
controlled
.
EXAMPLE
2
G03
X-
•
•
Y-
•
.
I-
.
.
F200
*
In
the
above
case,
the
feedrate
is:
F
=
200
mm
/min
F
(mm/min)
=/
fx2
+
fy2
+
fz2
+
fa2
NOTES:
A
command
"F0"
cause
data
errors
and
the
alarm code
"15"
will
be
displayed.
•
Any
minus
value
should
not
be
specified
for
F
commands.
If
specified,
the
machine
will
not
operate
properly.
=
/
fx2
+
fy2
CENTER
\
200tran/iBi
i
i
fy
EXAMPLE
+Y
fx
F-250
*
•
•
Wrong
+X
2.5.2
FEED
FUNCTION
B
(F-FUNCTION
B)
(b)
Fig.
2.5.
1.2
The
following
feed
function
may
be
adopted
in
place
of
the
feed
function
A
described
above
when
parameter
No.
87
is
set to
"15.
"
•
Commanding
tool
feed
per
minute
(mm/min)
in
five
digits
following
the
address
F.
•
The
command
range
of
the
F
code
is
as
follows.
•
Values
of
F
command
at
linear
interpolation
represent
the
tangential
feedrate
when
three
axes
are
simultaneously
controlled.
EXAMPLE
Table
2.5.2.
I
F
Code
(mm/min-B)
G01
X-
•
•
Y-
•
Z-
•
•
F400
*
In
the
above
case,
the
feedrate
is:
Range
of
F
eedrate
Meanings
Format
F
=
400
=
*/
f*2
+
fy2
+
fz2
(mm/min)
0.
1
to
5400.
0
mm/min
__
Metric
F41
FI
to
F54000
0.
01
to
212.59
inch/min
Inch-*-
F32
FI
to
F21259
As
shown
above,
the
feed
function
B
can
be
treat¬
ed
similarly
with
the
feed
function
A,
except
for
the
number
of
digits
of
commanded
value.
+Y
END
POINT
—
-V7!
/
t
l
2.5.3
FEED
PER
REVOLUTION
A
(MM/REV
COMMAND
A)+
I
I
-1
I
400mm/mtn
When
a
spindle
pulse
generator
is
installed'*',
the
feedrate
per
revolution
function
can
be
used,
and
a new
G
code
will
be
used
for
this
function.
Be¬
fore
F
function
for
feedrate
per
revolution is
given,
G
code
of
F
group
shown
below
must
be
designated.
When
the
power
supply
is
switched
on,
G94
is
in
effect.
I
START
POINT
1
y
+7.
Fig.
2.
5.
1.
3
-
7
-

EXAMPLE
G
code
of
D
group
Function
G95 S500
(rpm)
*
G01Y
10000
F60
*
In
the
above
case,
the
feedrate
is:
F
x
S
=
0.60
mm/rev
x
500
rpm
=
300
mm/
min
Feedrate
per
minute
(mm/min)
designation
G94
Feedrate
per
revolution
(mm/rev)
designation
G95
Note:
For
details
of
these
G
codes,
refer
to
2.
14.
19
Feed
Function
Designa¬
tion
(G94,
G95)
+
Since
F
code
is
modal,
the
code
is
effective
until
the
next
F
code
is
given.
However,
whenG94/
G95
are
switched
over,
F
code
must
be
desig¬
nated
again.
After
the
designation
of
G95,
the
feedrate-of-
tool
per
spindle-revolution
can
be
given
by
4
digits
following
F.
The
command
range
of
the
F
code
is
as
follows.
+¥
J
FEEDRATE
I
300
mm/min
+X
Fig.
2.
5.
3.
2
Table
2.
5.
3.
1
F
Code
(mm/rev.-A)
Note:
When
G94
command
is
given,
feedrate
in
mm
per
minute
can
be
given
by
F-
function
Range
of
Feedrate
Meanings
Format
A.
0.
01
to
99.99
mm/rev.
_
FI
to
F9999
F22
Metric
2.5.4
FEED
PER
REVOLUTION
B+
(MM/REV
COMMAND
B)
0.001
to
3.936
inch/rev.
Inch+
FI
to
F3936
F13
Instead
of
the
feed
per
revolution
A
described
above,
the
following
feed
per
revolution
B
may
optionally
be
incorporated
when
parameter
No.
87
is
set
to
"
15
.
"
After
designating
G95,
tool
feed
per
each
revo¬
lution
of
the
spindle(
mm/rev)
can
be
given
by
the
5
digits
following
the
F
address.
Table
2.
5.4.
1
shows
the
programmable
range
of
F
code.
However,
the
programming
of
feedrate
is
re¬
stricted
by
the
spindle
speed
(S)
as
shown
below.
5400
S
F
x
(mm/rev)
-
(
mm
/min)
(rpm)
Table
2.
5.4.1
F
Code
(mm/rev.
-B)
Range
of
Feedrate
Format
Meanings
i
99 99
0. 001
to
99.999
mm/rev.
_
F23
FI
to
F99999
Metric
5400mm/min
0.
0001
to
3.9366
inch
/rev.
Incht
FI
to
F39366
F
14
F
(nun/
•
However,
the
programming
of
feedrate
is
re¬
stricted
by
the
spindle speed
as
shown
below.
rev)
o
5000
s
rpm
F
S
5400
(mm
/min)
x
(mm/rev)
(rpm)
Fig.
2.5.3.
1
Restriction
of
Feedrate
(F)
and
Spindle
Speed
(S)
*
Note:
When
G94
command
is
given,
feedrate
in
mm
per
minute
can
be
given
by
F-
function
B.
-
8
-

2.6.2
ACCELERATION
AND
DECELERATION
OF
CUTTING
FEED
2.5.5
SUMMARY
OF
FEED
FUNCTION
Parameter
No.
87
=
"15"
Parameter
No.
87
=
"0"
In
the
following
operation,
the
pattern
of
auto¬
matic acceleration
and
deceleration
is
exponen¬
tial
curve.
(See
Fig.
2.6.2.)
F4-digit
command
F5-digit
command
•
Cutting
feed
(G01
to
G03)
Basic
Basic
F
function
A
F
function
B
(5-digit
mm/min)
V
(4-digit
mm/min)
•
F,
Optional
Optional
5
o
I
f
Jt
-3
Feed
per
revolution
A
(4-digit
mm/rev.)
Feed
per
revolution
B
(5-digit
mm/rev.)
w
>
t
TIME
Fig.
2.6.2
Fig.
2.5.
5
2.6
AUTOMATIC
ACCELERATION
AND
DECELERATION
2.7
MISCELLANEOUS
FUNCTIONS(M-FUNCTION)
The
miscellaneous
function
is
specified
with
the
address
M
and
two
digits.
The
function
of
each
M
code
(MOO
to
M99)
is
determined
by
the
ma¬
chine,
except
for
several
M
codes.
Refer
to
the
machine
tool
builder
's
manual
for
the
function
of
M
codes
except
for
the
following
M
codes
con¬
cerned
with
the control.
Acceleration
and
deceleration
for
rapid
traverse
and
for
cutting
feed
are
automatically
performed
without
programming.
2.6.1
ACCELERATION
AND
DECELERATION
0ÿ
RAPID
TRAVERSE
AND
MANUAL
FEED
In
the
following
operation,
the
pattern
of
auto¬
matic
acceleration
and
deceleration
is
linear.
(See
Fig.
2.6.1.)
2.7.1
M
CODES
FOR STOP
(MOO,
M01,
M02,
M3
0
)
•
MOO
(Program
Stop)
•
Positioning
(GOO)
•
Manual
rapid
traverse
(RAPID)
-
Manual
continuous
feeding
(,IOG)
•
Manual
HANDLE
feeding
(HANDLE)
This
code,
when
given
in
automatic
operation#
mode,
stops
the automatic
operation
after
the
commands
in
the
block
containing
MOO
have
been
completed
and
MOO
R
signal
is
fed.
The
program
may
be
continued
by pressing
the
CYCLE START
button.
v
GOO
I
M01
(Optional
Stop)
£4
s
w
M01
performs
the
same
function
as
program
stop
MOO
whenever the
OPTIONAL
STOP
switch
is
on.
When the
OPTIONAL
STOP
switch
is
off,
the
M01
code
is
disregarded.
>
TIME
—
Fig.
2.
6.
1
-
9
-

M02
(End-of-Pr-ogram)
•
M94
and
M9
5
are
modal.
When
the
power
supply
is
turned
on,
M94
(OFF)
is
in
effect.
•
The axis
on
which mirror
images
are
to
be
effected
is
specified
by
parameter
No.
91
(or
mirror
image
axis
designation
switcht.
)
For
this
procedure,-
refer
to
4.3.
11
Parameter
Writing
for
Mirror-Image
Axis
(and
6.
1.25
MIRROR
IMAGE. AXIS
Selector
Switchÿ).
•
When
M95
is
given,
the
subsequent
blocks
will
control the machine
in
mirror-
image
fashion,
that
is,
movements
in
the
specified
coordinate
direction
will
be
reversed.
M02
is used
at.
the
end
of
program.
When
given
in
automatic
operation#
mode,
this code
stops
the
automatic
operation
after
the
commands
in
the
block
containing
M02
have been
completed,
Although
the
control
is
reset
in
most
cases,
the details
are
determined
by
the machine. Re¬
fer
to
the
machine
tool builder's manual.
r
•
M30
(End-of-Tape)
M30
is
given
at
the end
of
tape.
.When
given
in
-
automatic
operation#
mode,
this
code
stops
the
automatic
operation
after
the
commands
in
the
block
containing
M30
have
been
completed.
In
addition,
in
most
cases,
the-control
is
reset
and
rewinds the
tape
(or
memory).'
Since
the
details
are
determined
by
the
machine,
refer
to
the machine tool builder's
manual.
Y
X
AXIS
MIRROR
IMAGE
ON
\
f
NOTES:
•
.When
MOO,
M01,
M02
or
M30
is
given,
it
pre¬
vents
the
control
from
reading
ahead the
next
block
of
information.
The
single decodedsignal
is
fed
in
addition
to
the
2-digit
BCD
output
for
M
codes.
For
the
timing
of
output,
refer
to
the
Appendix
l
,
•
Whether
MOO,
M01,M02
orM30
executes
spin¬
dle
stop,
coolant
off
or
some
other
executions,
refer
to
the machine tool
builder'.s
manual.
_•
Whether the
control
is
automatically
reset
or
rewinds
the
tape
(or
memory),
is
determined
by
the
following
state.
(a)
Input
signal
of
the control
"EOP"
(internal
reset
input)
is
wired
for
"ON"
or
not.
(b)
Input
signal
of
the control
"RWD"
(rewind
input)
is wired
for
"ON"
or
not.
.
PROGRAMMED
COMMAND
.
M95
Fig.
2.
7.
2. 1
With
both
the
absolute and increment
move
commands,
the
same
mirror
image
effect
will
be obtained.
The
start
point
of
the
re¬
spective
block
constitutes
the mirror
point.
-
When
M94
is
given,
mirror
image
effect
will
be
cancelled
on
the
subsequent
blocks.
Mirror
image
operation
must
be started
and
cancelled
at
the
same
position.
NOTES:
When
G28
or
G29
is
used
to
change
tools
or
for
ending machining
processes,
make
sure
to
can¬
cel
the
mirror
image
effect
by
means
of
M94.
If
mirror
image
effect
is
not
cancelled
when
G28
or
G29
is
given,
an
input
error
results.
•,
The mirror
image
effect
is
not
effective
on
the
offset
movement
resulting
from
the
tool
offset
function
B.
It
is
effective
on
the
offset
move¬
ment
resulting
from
the
tool
offset function
A
and
tool radius
compensation
C.
.
Do
not
switch
the
designation
of
mirror
image
axis
during
operations
under
M95
(ON)
mode.
•
Displayed
current
position
by
POS
key
in
mir¬
ror
image
fashion
indicates
the actual
motion
of
tool.
Displayed
data
by
COM
key
show
pro¬
grammed
commands.
#
"Automatic
operation"
means
operation
in
TAPE,
MDI
or
MEM
mode
in
this
manual.
Refer
to
the
machine tool
builder's manual
and
Appendix
1.
2.7.2
M
CODES
FOR
OTHER
INTERNAL
f
PROCESSES
M90
through
M99
are
for
internal
processes.
Even
when
they
are
given,
no
external
output
signal
(BCD
and
decoded
output)
will
be
output.
1.
M94/M9
5(
Mirror
image
ON/OFF)
M94
•
•
•
Mirror
image
OFF
M95
•
••
Mirror
image
ON
•
With
these
codes,
mirror
image
operation
can
be
started
and
stopped
at
any
desired
point
on
the
program.
These
commands
must
always
be made
on
a
single
block.
-
10

«
Program
must
be
made
so
that
mirror
image
operation
starts
and
stops
at
the
same
position.
If
the
start
position
and the
stop
position
are
not
the
same,
movements
of
the
machine
after
cancelling
mirror
image
will
be
shifted
by
the
difference
between
the
both
positions.
EXAMPLE
+Y
PROGRAMMED
COMMAND
X
AXIS
MIRROR
IMAGE
ON
100
1
i
A:
40
_A_
7V
\
/
/
/
/
/
-20
+X
6
-80
\
20
40
60
120
-40
-120
START
POINT
\
\
\
“--O-40
+
r~
f
PATH BY
ERRONEOUS
CANCELLING
CORRECT
PATH
N01
G92
X0 Y0
*
N02
M95
*
Mirror
image
on.
N03
G90
G01
X4000
Y4000
F300
*
N04
XL2000
*
N05
X10000
*
N06
X4000
*
N07
X4000
*
If
"M94
is
programmed
here,
the
tool
moves on
the
dotted
line.
<J=>
N08
X0
Y0
*
N09
M94
*
Correct
mirror
image
off.
N
10
X2000
Y
-4000
*
Nil
X6000
Fig.
2.
7.2.2
-
11
-

2.
M96/M97
(Compensation
C
circular
path
ON
/OFF)*
M96
•
•
•
Compensation
C
circular
path
ON
M97
. . .
Compensation
C
circular
path
OFF
2.7.3
OTHER
M
CODES
For
using
M'codes,
other’
than
those
mentioned
above,
refer
to
the machine tool
builder's
man¬
ual.
«r
-
(
In
the
G41
or
G42
cutter
radius
compensa¬
tion
mode,
when
M96
is
given,
the
tool
moves
along
a
circular
path
around
a
corner
with
an
angle
of
180°
or
larger.
In
the
M97
mode,
the
tool does
not
move
along
a
circu¬
lar
path
at
the
corner,
but
moves
along
two
intersecting
straight
lines
intersecting
at
a
calculated
intersecting
point
shifted from
the
programmed
contour
by
the
tool- radius.
Table
2.
7.3
Typical
Examples
of
M
codes
for
Machine
Meanings
Remarks
M
code
Spindle
forward
running
M03
and
M04
are
not
switchable.
MO
5
(
stop)
must
be
intermediated.
M03
Spindle
reverse
running
'
M
04
M
05
Spindle
stop
Coolant
on
M08
M97
MODE
M96
MODE
Coolant
off
M09
CIRCULAR
PATH
INTERSECTION
:£tz
/
J
When
these
M
codes
are
given
in
a
block
together
i
with
move
command,
whether
the
M
commands
are
executed
simultaneously
or
after
completion
of
move
command,
are
determined
by
the
type
of
machine.
Refer
to
the machine
tool
builder's
manual.
/
-o
-o
=.
/
I
PROGRAMMED
CONTOUR
2.7.4
SUBPROGRAM
FUNCTION
(M98,
M99)+
Fig.
2.
7.
2.
3
The
sequence
of
operation
can
be
altered
by
this
option
which is
available
for
the
control
supplied
with
part
program
storage.
The
M98
and
M99
commands
can
specify
the
sequence
number
of
the
block
to
be
performed
next.
(The
previous
or
the
following
block.
)
With
M98
code,
up
to
8
levels
of
subprogram jumps
are
possible.
M96
and
M97
are
modal.
When the
power
is
turned
on,
M96
takes
effect.
1
•
M96
and
M97
are
effective
on
the
following
move
command
blocks.
1
Jump
Instruction:
P...
M99
*
G01
X-
•
y
-
•
.
F-
-
M96
(or
M97)
*
(GO
1
)
X-
• •
Y-
•
•
*
Effective from
the
corners
of
these
2
blocks
3
This command
jumps
to
the
block
of
the
se¬
quence
number
specified
by
the address
P.
When the
P
command is
omitted,
the
execu¬
tion
returns
to
the
first
address
of
the
memory
and the
operation
will
be
repeated.
Effective
from
the
corners
of
these
2
blocks
G01
X-
-
•
Y-
-
•
F
•
•
•
*
M96
(or
M97)
*
(GO
1
)
X-.-
Y-.-
*
3
2
Jump
Instruction
to
Subprogram:
P-..
L
____
M98
*
3.
M98/M99
(Subprogram
function)
M98
is
used
when the
program
is
required
to
jump
from
the
executing
program
(main
pro¬
gram)
to
the
other
program
(subprogram)
and
must return
to
the main
program
after
the
com¬
pletion
of
the
subprogram.
These
codes
are
used
for
jump
instruction.
For
details,
refer
to
2.
7.4
Subprogram
Function.
:
12

single
block.
When
M99
is
given
in
the
subpro¬
gram
towhich
a
jump
was
made
under
the
com¬
mand
of
M98,
the
block
in
the
main
program
following
the
block
in
which
the
jump
was
given
is
called
back
automatically.
Address
P
specifies
the
sequence
number
of
the
first
block
of
the
subprogram.
Address
L
specifies
the
number
of
repetitions
of
the
subprogram.
The
maximum
program¬
mable
value
of
the
address
L
is
8388607.
After
execution,
the
command
returns
to
the
main
program.
When address
L
is
omitted,
the
subprogram
is
executed
only
once.
M98
may
also
be
given
in
a
subprogram
to
jump
to
another
subprogram.
With
the
first
jump
from
the main
program
counted
as
the
simplex
jump, jumps
are
possi¬
ble
up
to
eight
levels.
4
Return
Block
Instruction
from
Subprogram:
P-
-
•
M99
.*
When
an
address
P
is
given
with
M99
at
the
end
of
a
subprogram,
the
return
block
can
be
de¬
signated
by
the
address
P.
The
program
re¬
turns
to
the
block
of
the
main
program
whose
sequence
number
is
designated
by
the
address
P.
3
Automatic Return Instruction
from
subprogram:
M99
*
At
the
end
of
a
subprogram,
M99
is
given
in
a
(Main
Program)
Start
N
1
*
T
N2
N3
N4
N5
P51
M98
*
Main
Program
Simple
jump
N6
*
N7
M99
*
N8
PI
1
Simple
jump
N9
•
•s
N
10
•
*
Return
to
specified
block
Nil
*
N
12
M30
*
End.
N51
*
*
N52
Subprogram
Two
levels
subprogram
jump
N
53
P
57
t.,3
M98
*
1
N54
*
N55
•
•
*
N56
P7
M9H
*
N57
,
t
t
N58
.
.
*
*
t
t
t
3-Time
repeating
N59
*
Subprogram
t
t
t
t
2
NGO
*
t
t
t
t
t
N61
/
j
1
N
62
M99
*
Fig.
2.
7.4.
i
13
-